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dc.contributor.authorRosales Gallegos, Carlos
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorRos Giralt, Lluís
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2013-10-01T12:53:01Z
dc.date.available2013-10-01T12:53:01Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationRosales, C.; Porta, J.M.; Ros, L. Grasp optimization under specific contact constraints. "IEEE transactions on robotics", 2013, vol. 29, núm. 3, p. 746-757.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/20245
dc.description.abstractThis paper presents a procedure to synthesize highquality grasps for objects that need to be held and manipulated in a specific way, characterized by a pre-specified set of contact constraints to be satisfied. Due to the multi-modal nature of typical grasp quality measures, approaches that resort to local optimization methods are likely to get trapped into local extrema on such problem. An additional difficulty of the problem is that the set of feasible grasps is a highly-dimensional manifold, implicitly defined by a system of non-linear equations. The proposed procedure finds a way around these issues by focusing the exploration on a relevant subset of grasps of lower dimension, and tracing this subset exhaustively using a higher-dimensional continuation technique. A detailed atlas of the subset is obtained as a result, on which the highest-quality grasp according to any desired criterion, or a combination of criteria, can be readily identified. Examples are included that illustrate the application of the method to a three-fingered planar hand and to the Schunk anthropomorphic hand grasping several objects, using several quality indices.
dc.format.extent12 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshGrasping
dc.subject.otherrobots PARAULES AUTOR: anthropomorphic hand
dc.subject.othercontact constraint
dc.subject.othergrasp planning
dc.subject.othergrasp quality index
dc.subject.othergrasp synthesis
dc.subject.otherprecision grasp
dc.titleGrasp optimization under specific contact constraints
dc.typeArticle
dc.subject.lemacPrensió d'objectes
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/TRO.2013.2244785
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
drac.iddocument12737484
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorRosales, C.; Porta, J.M.; Ros, L.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameIEEE transactions on robotics
upcommons.citation.volume29
upcommons.citation.number3
upcommons.citation.startingPage746
upcommons.citation.endingPage757


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